Manipulation of mechanical motion at the micro-scale has been attracting continuous attention, leading to the successful implementation of various strategies with potential impact on classical and quantum information processing. We propose an approach based on the interplay between a pair of localised mechanical resonators and travelling surface acoustic waves (SAW). We demonstrate the existence of a two-sided interaction, allowing the use of SAW to trigger and control the resonator oscillation, and to manipulate the elastic energy distribution on the substrate through resonator coupling. Observation of the vectorial structure of the resonator motion reveals the existence of two coupling regimes, a dipole-dipole-like interaction at small separation distance versus a surface-mediated mechanical coupling at larger separation. These results illustrate the potential of this platform for coherent control of mechanical vibration at a resonator level, and reciprocally for manipulating SAW propagation using sub-wavelength elements.